diff --git a/src/BulletSoftBody/btConjugateGradient.h b/src/BulletSoftBody/btConjugateGradient.h
index c1816600e..bd51e584b 100644
--- a/src/BulletSoftBody/btConjugateGradient.h
+++ b/src/BulletSoftBody/btConjugateGradient.h
@@ -27,12 +27,12 @@ class btConjugateGradient
     typedef btAlignedObjectArray<btVector3> TVStack;
     TVStack r,p,z,temp;
     int max_iterations;
-    btScalar tolerance;
+    btScalar tolerance_squared;
 public:
     btConjugateGradient(const int max_it_in)
     : max_iterations(max_it_in)
     {
-       tolerance = 1e-5;
+       tolerance_squared = 1e-5;
     }
     
     virtual ~btConjugateGradient(){}
@@ -51,8 +51,7 @@ public:
         A.precondition(r, z);
         A.project(z);
         btScalar r_dot_z = dot(z,r);
-        btScalar local_tolerance = tolerance;
-        if (r_dot_z <= local_tolerance) {
+        if (r_dot_z <= tolerance_squared) {
             if (verbose)
             {
                 std::cout << "Iteration = 0" << std::endl;
@@ -86,7 +85,7 @@ public:
             A.precondition(r, z);
             r_dot_z = r_dot_z_new;
             r_dot_z_new = dot(r,z);
-            if (r_dot_z_new < local_tolerance) {
+            if (r_dot_z_new < tolerance_squared) {
                 if (verbose)
                 {
                     std::cout << "ConjugateGradient iterations " << k << std::endl;
diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp
index 676df528d..01a71aa3e 100644
--- a/src/BulletSoftBody/btDeformableBodySolver.cpp
+++ b/src/BulletSoftBody/btDeformableBodySolver.cpp
@@ -18,13 +18,13 @@
 #include "btDeformableBodySolver.h"
 #include "btSoftBodyInternals.h"
 #include "LinearMath/btQuickprof.h"
-
+static const int kMaxConjugateGradientIterations  = 200;
 btDeformableBodySolver::btDeformableBodySolver()
 : m_numNodes(0)
-, m_cg(200)
+, m_cg(kMaxConjugateGradientIterations)
 , m_maxNewtonIterations(5)
 , m_newtonTolerance(1e-4)
-, m_lineSearch(true)
+, m_lineSearch(false)
 {
     m_objective = new btDeformableBackwardEulerObjective(m_softBodies, m_backupVelocity);
 }
@@ -101,6 +101,7 @@ void btDeformableBodySolver::solveDeformableConstraints(btScalar solverdt)
                 m_residual[j].setZero();
             }
         }
+        updateVelocity();
     }
 }
 
@@ -298,9 +299,14 @@ void btDeformableBodySolver::setupDeformableSolve(bool implicit)
         {
             if (implicit)
             {
+                if ((psb->m_nodes[j].m_v - m_backupVelocity[counter]).norm() < SIMD_EPSILON)
+                    m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter];
+                else
+                    m_dv[counter] = psb->m_nodes[j].m_v - psb->m_nodes[j].m_vn;
                 m_backupVelocity[counter] = psb->m_nodes[j].m_vn;
             }
-            m_dv[counter] = psb->m_nodes[j].m_v - m_backupVelocity[counter];
+            else
+                m_dv[counter] =  psb->m_nodes[j].m_v - m_backupVelocity[counter];
             psb->m_nodes[j].m_v = m_backupVelocity[counter];
             ++counter;
         }